Abstract: A device to image registration method includes obtaining image data of a device, the device including a plurality of fiducials arranged as a fiducial frame on the device; detecting fiducial objects within the image data; cropping the image data to generate cropped image data; applying a feature enhancement to the cropped image data to enhance the fiducial objects; generating a candidate list of candidate objects based on the feature enhancement, and determining a common plane based on at least three points in the candidate list; determining a representative point for each candidate object; determining outlier candidate objects based on the common plane; determining resultant objects by extracting the outlier candidate objects from the candidate list; and registering the resultant objects to the device by matching the representative points of the resultant objects with a model of the fiducial frame.

Abstract: A device to image registration method includes obtaining image data of a device, the device including a plurality of fiducials arranged as a fiducial frame on the device; detecting fiducial objects within the image data; cropping the image data to generate cropped image data; applying a feature enhancement to the cropped image data to enhance the fiducial objects; generating a candidate list of candidate objects based on the feature enhancement, and determining a common plane based on at least three points in the candidate list; determining a representative point for each candidate object; determining outlier candidate objects based on the common plane; determining resultant objects by extracting the outlier candidate objects from the candidate list; and registering the resultant objects to the device by matching the representative points of the resultant objects with a model of the fiducial frame.

Abstract: One or more devices, systems, methods and storage mediums for performing medical procedure (e.g., needle guidance, ablation, biopsy, etc.) planning and/or performance, and/or for performing registration using at least one mask, are provided. Examples of applications for such devices, systems, methods and storage mediums include imaging, evaluating and diagnosing biological objects, such as, but not limited to, lesions and tumors, and such devices, systems, methods and storage mediums may be used for radiotherapy applications (e.g., to determine whether to place seed(s) for radiotherapy). The devices, systems, methods and storage mediums provide improved registration results by utilizing at least one mask to suppress one or more artifacts or objects (which may or may not include, but is not limited to, at least one medical instrument or tool) in an image including a portion of the medical guidance device and/or to enhance a region or target of interest in the image.